Upload client_test.py as weather in utils
Activate mesh distance fields
This commit is contained in:
marcos909
bernat
parent
a41bf95afd
commit
c3a89b5a57
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@ -46,7 +46,7 @@ class Sun(object):
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self._t %= 2.0 * math.pi
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self.azimuth += 0.25 * delta_seconds
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self.azimuth %= 360.0
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self.altitude = 35.0 * (math.sin(self._t) + 1.0)
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self.altitude = -35.0 * (math.sin(self._t) + 1.0)
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def __str__(self):
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return 'Sun(%.2f, %.2f)' % (self.azimuth, self.altitude)
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@ -0,0 +1,241 @@
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import glob
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import os
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import sys
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try:
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sys.path.append(glob.glob('../carla/dist/carla-*%d.%d-%s.egg' % (
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sys.version_info.major,
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sys.version_info.minor,
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'win-amd64' if os.name == 'nt' else 'linux-x86_64'))[0])
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except IndexError:
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pass
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import carla
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from math import sin
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import argparse
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# -------------------------------------------------
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def main():
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argparser = argparse.ArgumentParser(
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description="CARLA weather example")
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argparser.add_argument(
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'--host',
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metavar='H',
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default='127.0.0.1',
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help='IP of the host server (default: 127.0.0.1)')
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argparser.add_argument(
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'-p', '--port',
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metavar='P',
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default=2000,
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type=int,
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help='TCP port to listen to (default: 2000)')
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argparser.add_argument(
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'--sun',
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default=None,
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type=str,
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help='Sun position presets [day | night | sunset]')
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argparser.add_argument(
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'--weather',
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default=None,
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type=str,
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help='Weather condition presets [clear | overcast | rain]')
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argparser.add_argument(
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'--altitude', '-alt',
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metavar='A',
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default=None,
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type=float,
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help='Sun altitude [-90 to 90]')
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argparser.add_argument(
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'--azimuth', '-azm',
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metavar='A',
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default=None,
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type=float,
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help='Sun azimuth [0 to 360]')
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argparser.add_argument(
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'--clouds', '-c',
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metavar='C',
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default=None,
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type=float,
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help='Clouds amount [0.0 to 100.0]')
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argparser.add_argument(
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'--rain', '-r',
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default=None,
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type=float,
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help='Rain amount [0.0 to 100.0]')
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argparser.add_argument(
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'--puddles', '-pd',
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default=None,
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type=float,
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help='Puddles amount [0.0 to 100.0]')
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argparser.add_argument(
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'--wind', '-w',
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default=None,
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type=float,
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help='Wind intensity [0.0 to 100.0]')
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argparser.add_argument(
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'--fog', '-f',
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default=None,
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type=float,
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help='Fog intensity [0.0 to 100.0]')
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argparser.add_argument(
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'--fogdist', '-fd',
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default=None,
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type=float,
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help='Fog Distance')
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argparser.add_argument(
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'-s',
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default=1.0,
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type=float,
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help='Dynamic weather time factor (default: 1.0)')
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args = argparser.parse_args()
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client = carla.Client(args.host, args.port)
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client.set_timeout(2.0)
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world = client.get_world()
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weather = world.get_weather()
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run_dynamic_simulation = True
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#### PRESETS ###
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if args.sun is not None:
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## Sun Position ##
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if args.sun == 'day':
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weather.sun_altitude_angle = 90
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weather.sun_azimuth_angle = 220.0
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run_dynamic_simulation = False
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elif args.sun == 'night':
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weather.sun_altitude_angle = -90
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weather.sun_azimuth_angle = 220.0
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run_dynamic_simulation = False
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elif args.sun == 'sunset':
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weather.sun_altitude_angle = 181
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weather.sun_azimuth_angle = 100
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run_dynamic_simulation = False
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else:
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print("[ERROR]: Command [--sun | -s] ´" + args.sun + "´ not known")
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sys.exit(1)
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## Weather ##
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if args.weather is not None:
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if args.weather == 'clear':
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weather.cloudyness = 7.0
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weather.precipitation = 0.0
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weather.precipitation_deposits = 0.0
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weather.wind_intensity = 5.0
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run_dynamic_simulation = False
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elif args.weather == 'overcast':
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weather.cloudyness = 80.0
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weather.precipitation = 0.0
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weather.precipitation_deposits = 0.0
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weather.wind_intensity = 50.0
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run_dynamic_simulation = False
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elif args.weather == 'rain':
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weather.cloudyness = 100.0
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weather.precipitation = 80.0
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weather.precipitation_deposits = 90.0
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weather.wind_intensity = 100.0
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weather.fog = 20.0
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weather.fogdist = 30.0
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run_dynamic_simulation = False
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else:
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print("[ERROR]: Command [--weather | -w] ´" + args.weather + "´ not known")
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sys.exit(1)
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if args.azimuth is not None:
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weather.sun_azimuth_angle = args.azimuth
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run_dynamic_simulation = False
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if args.altitude is not None:
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weather.sun_altitude_angle = args.altitude
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run_dynamic_simulation = False
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if args.clouds is not None:
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weather.cloudyness = args.clouds
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run_dynamic_simulation = False
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if args.rain is not None:
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weather.precipitation = args.rain
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run_dynamic_simulation = False
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if args.puddles is not None:
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weather.precipitation_deposits = args.puddles
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run_dynamic_simulation = False
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if args.wind is not None:
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weather.wind_intensity = args.wind
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run_dynamic_simulation = False
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if args.fog is not None:
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weather.fog = args.fog
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run_dynamic_simulation = False
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if args.fogdist is not None:
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weather.fogdist = args.fogdist
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run_dynamic_simulation = False
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if run_dynamic_simulation:
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speed_factor = args.s
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update_freq = 0.000001 / speed_factor
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elapsed_time = 0.0
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total_time = 0.0
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while True:
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timestamp = world.wait_for_tick(seconds=30.0).timestamp
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elapsed_time += timestamp.delta_seconds
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if elapsed_time > update_freq:
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# tick -> speed_factor * elapsed_time
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delta_time = speed_factor * elapsed_time
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total_time += delta_time
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world.set_weather(weather)
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weather.sun_altitude_angle += delta_time * 15.0
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weather.sun_azimuth_angle += delta_time * 0.5
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weather.sun_azimuth_angle %= 360.0
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weather.cloudyness = max(0, sin(total_time/10) * 100)
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weather.precipitation = max(0, sin(total_time/20) * 150 - 50)
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weather.precipitation_deposits = max(0, sin(total_time/20) * 130 - 30)
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weather.wind_intensity = max(30, sin(total_time/20) * 150 - 50)
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info_str = '\r' + str('Altitude: {:6.2f} Azimuth: {:6.2f} Clouds: {:4.2f} Wind: {:4.2f} Rain: {:4.2f} Puddles: {:4.2f}'.format(
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weather.sun_altitude_angle * -1.0,
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weather.sun_azimuth_angle,
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weather.cloudyness,
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weather.wind_intensity,
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weather.precipitation,
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weather.precipitation_deposits)) + 12 * ' '
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sys.stdout.write(info_str)
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sys.stdout.flush()
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elapsed_time = 0.0
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else:
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world.set_weather(weather)
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if __name__ == '__main__':
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main()
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@ -28,7 +28,7 @@ r.DefaultFeature.AutoExposure=False
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r.CustomDepth=3
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r.Streaming.PoolSize=2000
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r.TextureStreaming=True
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r.GenerateMeshDistanceFields=False
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r.GenerateMeshDistanceFields=True
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r.DistanceFieldBuild.EightBit=False
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r.DistanceFieldBuild.Compress=False
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